System and method for parallax correction for video see-through augmented reality

This application claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 63/411,857 filed on Sep. 30, 2022, which is hereby incorporated by reference in its entirety.

This disclosure relates generally to augmented reality (AR) systems and processes. More specifically, this disclosure relates to a system and method for parallax correction for video see-through (VST) AR.

Augmented reality (AR) systems can seamlessly blend virtual objects generated by computer graphics within real-world scenes. Optical see-through (OST) AR systems refer to AR systems in which users directly view real-world scenes through head-mounted devices (HMDs). Unfortunately, OST AR systems face many challenges that can limit their adoption. Some of these challenges include limited fields of view, limited usage spaces (such as indoor-only usage), failure to display fully-opaque black objects, and usage of complicated optical pipelines that may require projectors, waveguides, and other optical elements.

This disclosure provides a system and method for parallax correction for video see-through (VST) augmented reality (AR).

In a first embodiment, a method includes obtaining a stereo image pair including a first image and a second image captured using first and second see-through cameras associated with a video see-through (VST) augmented reality (AR) device. The method also includes generating a first feature map of the first image and a second feature map of the second image, the first feature map including extracted positions associated with pixels in the first image, the second feature map including extracted positions associated with pixels in the second image. The method further includes generating a disparity map between the first and second images based on a dense depth map. The method also includes generating a verified depth map based on a pixelwise comparison of predicted positions and the extracted positions associated with at least some of the pixels in at least one of the first and second images, the predicted positions determined based on the disparity map. In addition, the method includes generating a first virtual view and a second virtual view to present on a display panel of the VST AR device based on the verified depth map.

In a second embodiment, a VST AR device includes at least one display panel and first and second see-through cameras. The electronic device also includes at least one processing device configured to obtain a stereo image pair including a first image and a second image captured using the first and second see-through cameras. The at least one processing device is also configured to generate a first feature map of the first image and a second feature map of the second image, the first feature map including extracted positions associated with pixels in the first image, the second feature map including extracted positions associated with pixels in the second image. The at least one processing device is further configured to generate a disparity map between the first and second images based on a dense depth map. The at least one processing device is also configured to generate a verified depth map based on a pixelwise comparison of predicted positions and the extracted positions associated with at least some of the pixels in at least one of the first and second images, the predicted positions determined based on the disparity map. In addition, the at least one processing device is configured to generate a first virtual view and a second virtual view to present on a display panel of the VST AR device based on the verified depth map.

In a third embodiment, a non-transitory machine-readable medium contains instructions that when executed cause at least one processor of an electronic device to obtain a stereo image pair including a first image and a second image captured using first and second see-through cameras associated with a video see-through (VST) augmented reality (AR) device. The medium also contains instructions that when executed cause the at least one processor to generate a first feature map of the first image and a second feature map of the second image, the first feature map including extracted positions associated with pixels in the first image, the second feature map including extracted positions associated with pixels in the second image. The medium further contains instructions that when executed cause the at least one processor to generate a disparity map between the first and second images based on a dense depth map. The medium also contains instructions that when executed cause the at least one processor to generate a verified depth map based on a pixelwise comparison of predicted positions and the extracted positions associated with at least some of the pixels in at least one of the first and second images, the predicted positions determined based on the disparity map. In addition, the medium contains instructions that when executed cause the at least one processor to generate a first virtual view and a second virtual view to present on a display panel of the VST AR device based on the verified depth map.

Other technical features may be readily apparent to one skilled in the art from the following figures, descriptions, and claims.

Before undertaking the DETAILED DESCRIPTION below, it may be advantageous to set forth definitions of certain words and phrases used throughout this patent document. The terms “transmit,” “receive,” and “communicate,” as well as derivatives thereof, encompass both direct and indirect communication. The terms “include” and “comprise,” as well as derivatives thereof, mean inclusion without limitation. The term “or” is inclusive, meaning and/or. The phrase “associated with,” as well as derivatives thereof, means to include, be included within, interconnect with, contain, be contained within, connect to or with, couple to or with, be communicable with, cooperate with, interleave, juxtapose, be proximate to, be bound to or with, have, have a property of, have a relationship to or with, or the like.

Moreover, various functions described below can be implemented or supported by one or more computer programs, each of which is formed from computer readable program code and embodied in a computer readable medium. The terms “application” and “program” refer to one or more computer programs, software components, sets of instructions, procedures, functions, objects, classes, instances, related data, or a portion thereof adapted for implementation in a suitable computer readable program code. The phrase “computer readable program code” includes any type of computer code, including source code, object code, and executable code. The phrase “computer readable medium” includes any type of medium capable of being accessed by a computer, such as read only memory (ROM), random access memory (RAM), a hard disk drive, a compact disc (CD), a digital video disc (DVD), or any other type of memory. A “non-transitory” computer readable medium excludes wired, wireless, optical, or other communication links that transport transitory electrical or other signals. A non-transitory computer readable medium includes media where data can be permanently stored and media where data can be stored and later overwritten, such as a rewritable optical disc or an erasable memory device.

As used here, terms and phrases such as “have,” “may have,” “include,” or “may include” a feature (like a number, function, operation, or component such as a part) indicate the existence of the feature and do not exclude the existence of other features. Also, as used here, the phrases “A or B,” “at least one of A and/or B,” or “one or more of A and/or B” may include all possible combinations of A and B. For example, “A or B,” “at least one of A and B,” and “at least one of A or B” may indicate all of (1) including at least one A, (2) including at least one B, or (3) including at least one A and at least one B. Further, as used here, the terms “first” and “second” may modify various components regardless of importance and do not limit the components. These terms are only used to distinguish one component from another. For example, a first user device and a second user device may indicate different user devices from each other, regardless of the order or importance of the devices. A first component may be denoted a second component and vice versa without departing from the scope of this disclosure.

It will be understood that, when an element (such as a first element) is referred to as being (operatively or communicatively) “coupled with/to” or “connected with/to” another element (such as a second element), it can be coupled or connected with/to the other element directly or via a third element. In contrast, it will be understood that, when an element (such as a first element) is referred to as being “directly coupled with/to” or “directly connected with/to” another element (such as a second element), no other element (such as a third element) intervenes between the element and the other element.

As used here, the phrase “configured (or set) to” may be interchangeably used with the phrases “suitable for,” “having the capacity to,” “designed to,” “adapted to,” “made to,” or “capable of” depending on the circumstances. The phrase “configured (or set) to” does not essentially mean “specifically designed in hardware to.” Rather, the phrase “configured to” may mean that a device can perform an operation together with another device or parts. For example, the phrase “processor configured (or set) to perform A, B, and C” may mean a generic-purpose processor (such as a CPU or application processor) that may perform the operations by executing one or more software programs stored in a memory device or a dedicated processor (such as an embedded processor) for performing the operations.

The terms and phrases as used here are provided merely to describe some embodiments of this disclosure but not to limit the scope of other embodiments of this disclosure. It is to be understood that the singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise. All terms and phrases, including technical and scientific terms and phrases, used here have the same meanings as commonly understood by one of ordinary skill in the art to which the embodiments of this disclosure belong. It will be further understood that terms and phrases, such as those defined in commonly-used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined here. In some cases, the terms and phrases defined here may be interpreted to exclude embodiments of this disclosure.

Examples of an “electronic device” according to embodiments of this disclosure may include at least one of a smartphone, a tablet personal computer (PC), a mobile phone, a video phone, an e-book reader, a desktop PC, a laptop computer, a netbook computer, a workstation, a personal digital assistant (PDA), a portable multimedia player (PMP), an MP3 player, a mobile medical device, a camera, or a wearable device (such as smart glasses, a head-mounted device (HMD), electronic clothes, an electronic bracelet, an electronic necklace, an electronic accessory, an electronic tattoo, a smart mirror, or a smart watch). Other examples of an electronic device include a smart home appliance. Examples of the smart home appliance may include at least one of a television, a digital video disc (DVD) player, an audio player, a refrigerator, an air conditioner, a cleaner, an oven, a microwave oven, a washer, a drier, an air cleaner, a set-top box, a home automation control panel, a security control panel, a TV box (such as SAMSUNG HOMESYNC, APPLETV, or GOOGLE TV), a smart speaker or speaker with an integrated digital assistant (such as SAMSUNG GALAXY HOME, APPLE HOMEPOD, or AMAZON ECHO), a gaming console (such as an XBOX, PLAYSTATION, or NINTENDO), an electronic dictionary, an electronic key, a camcorder, or an electronic picture frame. Still other examples of an electronic device include at least one of various medical devices (such as diverse portable medical measuring devices (like a blood sugar measuring device, a heartbeat measuring device, or a body temperature measuring device), a magnetic resource angiography (MRA) device, a magnetic resource imaging (MRI) device, a computed tomography (CT) device, an imaging device, or an ultrasonic device), a navigation device, a global positioning system (GPS) receiver, an event data recorder (EDR), a flight data recorder (FDR), an automotive infotainment device, a sailing electronic device (such as a sailing navigation device or a gyro compass), avionics, security devices, vehicular head units, industrial or home robots, automatic teller machines (ATMs), point of sales (POS) devices, or Internet of Things (IoT) devices (such as a bulb, various sensors, electric or gas meter, sprinkler, fire alarm, thermostat, street light, toaster, fitness equipment, hot water tank, heater, or boiler). Other examples of an electronic device include at least one part of a piece of furniture or building/structure, an electronic board, an electronic signature receiving device, a projector, or various measurement devices (such as devices for measuring water, electricity, gas, or electromagnetic waves). Note that, according to various embodiments of this disclosure, an electronic device may be one or a combination of the above-listed devices. According to some embodiments of this disclosure, the electronic device may be a flexible electronic device. The electronic device disclosed here is not limited to the above-listed devices and may include new electronic devices depending on the development of technology.

In the following description, electronic devices are described with reference to the accompanying drawings, according to various embodiments of this disclosure. As used here, the term “user” may denote a human or another device (such as an artificial intelligent electronic device) using the electronic device.

Definitions for other certain words and phrases may be provided throughout this patent document. Those of ordinary skill in the art should understand that in many if not most instances, such definitions apply to prior as well as future uses of such defined words and phrases.

None of the description in this application should be read as implying that any particular element, step, or function is an essential element that must be included in the claim scope. The scope of patented subject matter is defined only by the claims. Moreover, none of the claims is intended to invoke 35 U.S.C. § 112(f) unless the exact words “means for” are followed by a participle. Use of any other term, including without limitation “mechanism,” “module,” “device,” “unit,” “component,” “element,” “member,” “apparatus,” “machine,” “system,” “processor,” or “controller,” within a claim is understood by the Applicant to refer to structures known to those skilled in the relevant art and is not intended to invoke 35 U.S.C. § 112(f).

, discussed below, and the various embodiments of this disclosure are described with reference to the accompanying drawings. However, it should be appreciated that this disclosure is not limited to these embodiments and all changes and/or equivalents or replacements thereto also belong to the scope of this disclosure.

As discussed above, augmented reality (AR) systems can seamlessly blend virtual objects generated by computer graphics within real-world scenes. Optical see-through (OST) AR systems refer to AR systems in which users directly view real-world scenes through head-mounted devices (HMDs). Unfortunately, OST AR systems face many challenges that can limit their adoption. Some of these challenges include limited fields of view, limited usage spaces (such as indoor-only usage), failure to display fully-opaque black objects, and usage of complicated optical pipelines that may require projectors, waveguides, and other optical elements.

In various implementations, see-through cameras are typically high-resolution cameras (such as 2K or 4K cameras or higher). In order to provide quality user experiences with AR headsets, the latency of video frame transformations may need to be as low as possible in order to reduce or prevent users from noticing delays when moving their heads. However, existing techniques generally cannot process high-resolution images from see-through cameras to generate virtual view frames with adequately low latencies.

Unlike optical see-through AR in which a user can see a surrounding scene directly, video see-through (VST) AR recreates the surrounding scene using see-through cameras installed on an AR headset. Because the positions of the see-through cameras are different from the positions of the user's eyes, virtual images at the viewpoints of the user's eyes are generated from the image frames captured at the viewpoints of the see-through cameras. In this manner, the user's eyes can see the outside scene through the cameras as if the see-through cameras were installed at the viewpoints of eyes.

VST AR has some advantages over other types of AR, including a wider field of view, usability in outdoor environments, dark color occlusion, and altering perception. However, VST AR systems also face certain challenges. For example, in VST AR, since the see-through camera cannot be installed at the same position of the eye, the see-through camera viewpoint is different from the eye viewpoint. Due to the differences in the viewpoints, a parallax map from the see-through camera viewpoint is different from a parallax map from the eye viewpoint. In order to obtain a correct view at the virtual camera viewpoint, the view from the see-through camera needs to be transformed to the virtual camera with parallax correction.

This disclosure provides various techniques for parallax correction for video see-through augmented reality. As described in more detail below, the disclosed systems and methods provide an efficient algorithm and pipeline for generating correct views at the virtual camera viewpoints from the see-through camera views by parallax correction. The see-through camera and virtual camera are located at different positions of the HMD. Note that while some of the embodiments discussed below are described in the context of use in consumer electronic devices (such as AR headsets), this is merely one example, and it will be understood that the principles of this disclosure may be implemented in any number of other suitable contexts and may use any suitable devices.

illustrates an example network configurationincluding an electronic device according to this disclosure. The embodiment of the network configurationshown inis for illustration only. Other embodiments of the network configurationcould be used without departing from the scope of this disclosure.

According to embodiments of this disclosure, an electronic deviceis included in the network configuration. The electronic devicecan include at least one of a bus, a processor, a memory, an input/output (I/O) interface, a display, a communication interface, or a sensor. In some embodiments, the electronic devicemay exclude at least one of these components or may add at least one other component. The busincludes a circuit for connecting the components-with one another and for transferring communications (such as control messages and/or data) between the components.

The processorincludes one or more processing devices, such as one or more microprocessors, microcontrollers, digital signal processors (DSPs), application specific integrated circuits (ASICs), or field programmable gate arrays (FPGAs). In some embodiments, the processorincludes one or more of a central processing unit (CPU), an application processor (AP), a communication processor (CP), or a graphics processor unit (GPU). The processoris able to perform control on at least one of the other components of the electronic deviceand/or perform an operation or data processing relating to communication or other functions. As described in more detail below, the processormay perform one or more operations for parallax correction for video see-through augmented reality.

The memorycan include a volatile and/or non-volatile memory. For example, the memorycan store commands or data related to at least one other component of the electronic device. According to embodiments of this disclosure, the memorycan store software and/or a program. The programincludes, for example, a kernel, middleware, an application programming interface (API), and/or an application program (or “application”). At least a portion of the kernel, middleware, or APImay be denoted an operating system (OS).

The kernelcan control or manage system resources (such as the bus, processor, or memory) used to perform operations or functions implemented in other programs (such as the middleware, API, or application). The kernelprovides an interface that allows the middleware, the API, or the applicationto access the individual components of the electronic deviceto control or manage the system resources. The applicationmay support one or more functions for parallax correction for video see-through augmented reality as discussed below. These functions can be performed by a single application or by multiple applications that each carry out one or more of these functions.

The middlewarecan function as a relay to allow the APIor the applicationto communicate data with the kernel, for instance. A plurality of applicationscan be provided. The middlewareis able to control work requests received from the applications, such as by allocating the priority of using the system resources of the electronic device(like the bus, the processor, or the memory) to at least one of the plurality of applications. The APIis an interface allowing the applicationto control functions provided from the kernelor the middleware. For example, the APIincludes at least one interface or function (such as a command) for filing control, window control, image processing, or text control.

The I/O interfaceserves as an interface that can, for example, transfer commands or data input from a user or other external devices to other component(s) of the electronic device. The I/O interfacecan also output commands or data received from other component(s) of the electronic deviceto the user or the other external device.

The displayincludes, for example, a liquid crystal display (LCD), a light emitting diode (LED) display, an organic light emitting diode (OLED) display, a quantum-dot light emitting diode (QLED) display, a microelectromechanical systems (MEMS) display, or an electronic paper display. The displaycan also be a depth-aware display, such as a multi-focal display. The displayis able to display, for example, various contents (such as text, images, videos, icons, or symbols) to the user. The displaycan include a touchscreen and may receive, for example, a touch, gesture, proximity, or hovering input using an electronic pen or a body portion of the user.

The communication interface, for example, is able to set up communication between the electronic deviceand an external electronic device (such as a first electronic device, a second electronic device, or a server). For example, the communication interfacecan be connected with a networkorthrough wireless or wired communication to communicate with the external electronic device. The communication interfacecan be a wired or wireless transceiver or any other component for transmitting and receiving signals.

The wireless communication is able to use at least one of, for example, long term evolution (LTE), long term evolution-advanced (LTE-A), 5th generation wireless system (5G), millimeter-wave or 60 GHz wireless communication, Wireless USB, code division multiple access (CDMA), wideband code division multiple access (WCDMA), universal mobile telecommunication system (UMTS), wireless broadband (WiBro), or global system for mobile communication (GSM), as a cellular communication protocol. The wired connection can include, for example, at least one of a universal serial bus (USB), high definition multimedia interface (HDMI), recommended standard 232 (RS-232), or plain old telephone service (POTS). The networkorincludes at least one communication network, such as a computer network (like a local area network (LAN) or wide area network (WAN)), Internet, or a telephone network.

The electronic devicefurther includes one or more sensorsthat can meter a physical quantity or detect an activation state of the electronic deviceand convert metered or detected information into an electrical signal. For example, one or more sensorsinclude one or more cameras or other imaging sensors for capturing images of scenes. The sensor(s)can also include one or more buttons for touch input, a gesture sensor, a gyroscope or gyro sensor, an air pressure sensor, a magnetic sensor or magnetometer, an acceleration sensor or accelerometer, a grip sensor, a proximity sensor, a color sensor (such as a red green blue (RGB) sensor), a bio-physical sensor, a temperature sensor, a humidity sensor, an illumination sensor, an ultraviolet (UV) sensor, an electromyography (EMG) sensor, an electroencephalogram (EEG) sensor, an electrocardiogram (ECG) sensor, an infrared (IR) sensor, an ultrasound sensor, an iris sensor, or a fingerprint sensor. The sensor(s)can further include an inertial measurement unit, which can include one or more accelerometers, gyroscopes, and other components. In addition, the sensor(s)can include a control circuit for controlling at least one of the sensors included here. Any of these sensor(s)can be located within the electronic device.

In some embodiments, the electronic devicecan be a wearable device or an electronic device-mountable wearable device (such as an HMD). For example, the electronic devicemay represent an AR wearable device, such as a headset with a display panel or smart eyeglasses. In other embodiments, the first external electronic deviceor the second external electronic devicecan be a wearable device or an electronic device-mountable wearable device (such as an HMD). In those other embodiments, when the electronic deviceis mounted in the electronic device(such as the HMD), the electronic devicecan communicate with the electronic devicethrough the communication interface. The electronic devicecan be directly connected with the electronic deviceto communicate with the electronic devicewithout involving a separate network.

The first and second external electronic devicesandand the servereach can be a device of the same or a different type from the electronic device. According to certain embodiments of this disclosure, the serverincludes a group of one or more servers. Also, according to certain embodiments of this disclosure, all or some of the operations executed on the electronic devicecan be executed on another or multiple other electronic devices (such as the electronic devicesandor server). Further, according to certain embodiments of this disclosure, when the electronic deviceshould perform some function or service automatically or at a request, the electronic device, instead of executing the function or service on its own or additionally, can request another device (such as electronic devicesandor server) to perform at least some functions associated therewith. The other electronic device (such as electronic devicesandor server) is able to execute the requested functions or additional functions and transfer a result of the execution to the electronic device. The electronic devicecan provide a requested function or service by processing the received result as it is or additionally. To that end, a cloud computing, distributed computing, or client-server computing technique may be used, for example. Whileshows that the electronic deviceincludes the communication interfaceto communicate with the external electronic deviceor servervia the networkor, the electronic devicemay be independently operated without a separate communication function according to some embodiments of this disclosure.

The servercan include the same or similar components-as the electronic device(or a suitable subset thereof). The servercan support to drive the electronic deviceby performing at least one of operations (or functions) implemented on the electronic device. For example, the servercan include a processing module or processor that may support the processorimplemented in the electronic device. As described in more detail below, the servermay perform one or more operations to support techniques for parallax correction for video see-through augmented reality.

Althoughillustrates one example of a network configurationincluding an electronic device, various changes may be made to. For example, the network configurationcould include any number of each component in any suitable arrangement. In general, computing and communication systems come in a wide variety of configurations, anddoes not limit the scope of this disclosure to any particular configuration. Also, whileillustrates one operational environment in which various features disclosed in this patent document can be used, these features could be used in any other suitable system.

illustrates an example processfor parallax correction for video see-through augmented reality according to this disclosure. For ease of explanation, the processis described as being performed using one or more components of the network configurationofdescribed above, such as the electronic device. However, this is merely one example, and the processcould be performed using any other suitable device(s) and in any other suitable system(s).

As shown in, the electronic deviceincludes multiple sensors, which include one or more video see-through cameras, one or more pose tracking cameras, one or more depth sensors, and one or more positional sensors.

The video see-through camerascan include first and second high-resolution see-through cameras. In some embodiments, the video see-through camerascan be arranged as left and right high-resolution see-through cameras. The video see-through camerascan capture imageshaving any suitable resolution and dimensions depending on the capabilities of the video see-through cameras. In some embodiments, for instance, the imagesincludes high-resolution RGB image data, which typically includes image data in three color channels (namely red, green, and blue color channels). However, the imagesmay include image data having any other suitable form or arrangement. As described in greater detail below, the imagescan include left and right images and can be used for generating the final virtual views and rendering on the panels of the HMD.

The pose tracking camerascan include any suitable cameras capable of capturing information for HMD pose tracking. For example, the pose tracking camerascan capture HMD image pose tracking information that can be used with the left and right imagesto generate a stereo image pair. In some embodiments, the pose tracking camerascan include left and right pose tracking cameras. However, other numbers and arrangements of pose tracking camerasare possible.

The depth sensorscan include any suitable type(s) of depth sensors, such as ToF sensors. The depth sensorscan capture depth datafor depth re-projection and parallax correction. The position sensorscan include any suitable type(s) of position sensors, such as IMU sensors. The position sensorscan capture head position dataof the user wearing the HMD. The electronic devicecan include any suitable number and arrangement of depth sensorsand position sensors.

illustrates example arrangementsandbetween see-through camera viewpoints and eye (virtual camera) viewpoints according to this disclosure. In particular, the arrangementsandillustrate examples of parallax due to the relationships among a 3D scene, see-through camera imaging, and virtual camera imaging. As shown in, two see-through camerasandare arranged as left and right see-through cameras. The see-through camerasandcan represent (or be represented by) the video see-through cameras.also shows the positions of left and right virtual camerasand, which can represent the viewpoints as seen from the left and right eyes of the user of the HMD.

In, the position differences between the right see-through cameraand the right virtual camerainclude dx in the X-direction, dy in the Y-direction, and dz in the Z-direction. Similar position differences exist between the left see-through cameraand the left virtual camera. When seeing a point(identified as a) on a 3D objectof a scene, the left see-through cameraviews a point awhile the left virtual cameraviews point a. The difference in views is the result of parallax.

In, the position of the left see-through camerahas changed relative to the left virtual camera, such that the position difference between the left see-through cameraand the left virtual cameraincludes only dz in the Z-direction (i.e., dx and dy are both zero infor the left see-through cameraand the left virtual camera). The viewed points aand aare closer together inthan in, although some parallax still exists.

Turning again to, at operation, the electronic deviceobtains one or more camera parameters of the video see-through camerasand one or more distortion models. The camera parameters can include any suitable number of any suitable parameters, such as intrinsic parameters (e.g., focal length, lens distortion, etc.) and extrinsic parameters (e.g., transformation parameters, etc.). The distortion models can include any suitable distortion model that represents distortions of the video see-through cameras. At operation, the electronic deviceundistorts and rectifies the imageswith the see-through camera parameters and the distortion models to obtain a left rectified imageand a right rectified image. At operation, the electronic deviceinputs the rectified imagesandto a deep neural network (DNN) to reconstruct depth maps for the images. The DNN represents any suitable trained or untrained neural network configured to generate a depth map from an image.

At operation, the electronic deviceperforms pose tracking with the HMD image pose tracking information captured by the pose tracking camerasand the head position datacaptured by the position sensors. By performing the pose tracking, the electronic deviceobtains six degree-of-freedom (6DoF) camera poses. At operation, the electronic deviceperforms a re-localization and mapping (SLAM) process using the 6DoF camera poses to generate sparse depth points.

At operation, the electronic deviceperforms depth data fusion to integrate depth data from the reconstructed depth maps output by the DNN, the depth datacaptured by the depth sensors, and the sparse depth points generated by the SLAM process in operation. The results of the operationinclude creation of a dense depth map and a corresponding confidence map that can be provided as input to a depth clarification and verification process.